/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


*/


/* MEX function for Matlab */

#include "mex.h"
#include "ariac.h"


void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
    double *ip;
	if(nrhs != 1) {
		mexErrMsgIdAndTxt("arrobot_getsonarrange", "One input required.");
		return;
	}
	if(nlhs != 1) {
		mexErrMsgIdAndTxt("arrobot_getsonarrange", "One output required.");
		return;
	}
    ip = mxGetPr(prhs[0]);
	plhs[0] = mxCreateDoubleMatrix(1, 1, mxREAL);
    *(mxGetPr(plhs[0])) = arrobot_getsonarrange(*ip);
}
	